Using AI and Robotics for EV battery cable detection.: Development and implementation of end-to-end model-free 3D instance segmentation for industria…

2021

Master's thesis in Information- and communication technology (IKT590) This thesis describes a novel method for capturing point clouds and segmenting instances of cabling found on electric vehicle battery packs. The use of cutting-edge perception algorithm architectures, such as graph-based and voxel-based convolution, in industrial autonomous lithium-ion battery pack disassembly is being investigated. The thesis focuses on the challenge of getting a desirable representation of any battery pack using an ABB robot in conjunction with a high-end structured light camera, with "end-to-end" and "model-free" as design constraints. The thesis employs self-captured datasets comprised of several batt…